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| 1 | /******************************************************************************************************************************** |
1 | /******************************************************************************************************************************** |
| 2 | * |
2 | * |
| 3 | * Abstaction Layer to Communicate via J2ME and Bluetooth with the FlightCtrl of the MikroKopter Project (www.mikrokopter.de ) |
3 | * Abstaction Layer to Communicate via J2ME and Bluetooth with the FlightCtrl of the MikroKopter Project (www.mikrokopter.de ) |
| 4 | * |
4 | * |
| 5 | * Author: Marcus -LiGi- Bueschleb |
5 | * Author: Marcus -LiGi- Bueschleb |
| 6 | * |
6 | * |
| 7 | * see README for further Infos |
7 | * see README for further Infos |
| 8 | * |
8 | * |
| 9 | * |
9 | * |
| 10 | *******************************************************************************************************************************/ |
10 | *******************************************************************************************************************************/ |
| 11 | 11 | ||
| 12 | 12 | ||
| 13 | package org.ligi.ufo; |
13 | package org.ligi.ufo; |
| 14 | 14 | ||
| 15 | 15 | ||
| 16 | //#ifdef j2me |
16 | //#ifdef j2me |
| 17 | //# import javax.microedition.io.*; |
17 | //# import javax.microedition.io.*; |
| 18 | //#endif |
18 | //#endif |
| 19 | 19 | ||
| 20 | //#ifdef android |
20 | //#ifdef android |
| 21 | import android.util.Log; |
21 | import android.util.Log; |
| 22 | //#endif |
22 | //#endif |
| 23 | 23 | ||
| 24 | 24 | ||
| 25 | 25 | ||
| 26 | import java.io.*; |
26 | import java.io.*; |
| 27 | 27 | ||
| 28 | 28 | ||
| 29 | public class MKCommunicator |
29 | public class MKCommunicator |
| 30 | implements Runnable,DUBwiseDefinitions |
30 | implements Runnable,DUBwiseDefinitions |
| 31 | { |
31 | { |
| 32 | 32 | ||
| 33 | public int angle_nick=-4242; |
33 | public int angle_nick=-4242; |
| 34 | public int angle_roll=-4242; |
34 | public int angle_roll=-4242; |
| 35 | public byte bl_retrys=0; |
35 | public byte bl_retrys=0; |
| 36 | public boolean init_bootloader=false; |
36 | public boolean init_bootloader=false; |
| 37 | 37 | ||
| 38 | public byte lib_version_major=0; |
38 | public byte lib_version_major=0; |
| 39 | public byte lib_version_minor=4; |
39 | public byte lib_version_minor=4; |
| 40 | 40 | ||
| 41 | public String lib_version_str() |
41 | public String lib_version_str() |
| 42 | { |
42 | { |
| 43 | return "V"+lib_version_major+"."+lib_version_minor; |
43 | return "V"+lib_version_major+"."+lib_version_minor; |
| 44 | } |
44 | } |
| 45 | 45 | ||
| 46 | 46 | ||
| 47 | /***************** Section: public Attributes **********************************************/ |
47 | /***************** Section: public Attributes **********************************************/ |
| 48 | public boolean connected=false; // flag for the connection state |
48 | public boolean connected=false; // flag for the connection state |
| 49 | 49 | ||
| 50 | public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes |
50 | public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes |
| 51 | 51 | ||
| 52 | public final static int DATA_BUFF_LEN = 20; // in lines |
52 | public final static int DATA_BUFF_LEN = 20; // in lines |
| 53 | 53 | ||
| 54 | public String[] data_buff; |
54 | public String[] data_buff; |
| 55 | 55 | ||
| 56 | // boolean do_log=false; |
56 | // boolean do_log=false; |
| 57 | boolean do_log=true; |
57 | boolean do_log=true; |
| 58 | 58 | ||
| 59 | int data_buff_pos=0; |
59 | int data_buff_pos=0; |
| 60 | 60 | ||
| 61 | public byte user_intent=0; |
61 | public byte user_intent=0; |
| 62 | public final static int[] crc16_table = { |
62 | public final static int[] crc16_table = { |
| 63 | 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, |
63 | 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, |
| 64 | 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, |
64 | 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, |
| 65 | 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, |
65 | 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, |
| 66 | 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, |
66 | 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, |
| 67 | 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, |
67 | 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, |
| 68 | 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, |
68 | 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, |
| 69 | 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, |
69 | 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, |
| 70 | 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, |
70 | 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, |
| 71 | 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, |
71 | 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, |
| 72 | 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, |
72 | 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, |
| 73 | 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, |
73 | 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, |
| 74 | 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, |
74 | 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, |
| 75 | 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, |
75 | 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, |
| 76 | 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, |
76 | 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, |
| 77 | 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, |
77 | 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, |
| 78 | 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, |
78 | 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, |
| 79 | 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, |
79 | 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, |
| 80 | 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, |
80 | 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, |
| 81 | 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, |
81 | 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, |
| 82 | 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, |
82 | 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, |
| 83 | 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, |
83 | 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, |
| 84 | 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, |
84 | 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, |
| 85 | 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, |
85 | 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, |
| 86 | 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, |
86 | 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, |
| 87 | 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, |
87 | 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, |
| 88 | 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, |
88 | 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, |
| 89 | 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, |
89 | 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, |
| 90 | 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, |
90 | 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, |
| 91 | 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, |
91 | 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, |
| 92 | 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, |
92 | 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, |
| 93 | 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, |
93 | 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, |
| 94 | 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0 |
94 | 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0 |
| 95 | }; |
95 | }; |
| 96 | 96 | ||
| 97 | public void log(String str) |
97 | public void log(String str) |
| 98 | { |
98 | { |
| 99 | //#ifdef android |
99 | //#ifdef android |
| 100 | if (do_log) Log.d("MK-Comm",str); |
100 | if (do_log) Log.d("MK-Comm",str); |
| 101 | //#endif |
101 | //#endif |
| 102 | } |
102 | } |
| 103 | 103 | ||
| 104 | public int CRC16(int ch, int crc) |
104 | public int CRC16(int ch, int crc) |
| 105 | { |
105 | { |
| 106 | return crc16_table[((crc >> 8) ^ (ch)) & 0xFF] ^ (crc << 8); |
106 | return crc16_table[((crc >> 8) ^ (ch)) & 0xFF] ^ (crc << 8); |
| 107 | } |
107 | } |
| 108 | 108 | ||
| 109 | 109 | ||
| 110 | public int conn_time_in_s() |
110 | public int conn_time_in_s() |
| 111 | { |
111 | { |
| 112 | if (connected) |
112 | if (connected) |
| 113 | return (int)((System.currentTimeMillis()-connection_start_time)/1000); |
113 | return (int)((System.currentTimeMillis()-connection_start_time)/1000); |
| 114 | else |
114 | else |
| 115 | return 0; |
115 | return 0; |
| 116 | } |
116 | } |
| 117 | public final static byte BOOTLOADER_STAGE_NONE=0; |
117 | public final static byte BOOTLOADER_STAGE_NONE=0; |
| 118 | public final static byte BOOTLOADER_STAGE_GOT_MKBL=1; |
118 | public final static byte BOOTLOADER_STAGE_GOT_MKBL=1; |
| 119 | 119 | ||
| 120 | byte bootloader_stage= BOOTLOADER_STAGE_NONE; |
120 | byte bootloader_stage= BOOTLOADER_STAGE_NONE; |
| 121 | 121 | ||
| 122 | public MKLCD LCD; |
122 | public MKLCD LCD; |
| 123 | public MKVersion version; |
123 | public MKVersion version; |
| 124 | public MKDebugData debug_data; |
124 | public MKDebugData debug_data; |
| 125 | 125 | ||
| 126 | public int[] extern_control; |
126 | public int[] extern_control; |
| 127 | 127 | ||
| 128 | public MKGPSPosition gps_position; |
128 | public MKGPSPosition gps_position; |
| 129 | 129 | ||
| 130 | public MKStickData stick_data; |
130 | public MKStickData stick_data; |
| 131 | public MKParamsParser params; |
131 | public MKParamsParser params; |
| 132 | public MKWatchDog watchdog; |
132 | public MKWatchDog watchdog; |
| 133 | public MKProxy proxy=null; |
133 | public MKProxy proxy=null; |
| 134 | public MKStatistics stats ; |
134 | public MKStatistics stats ; |
| 135 | // public DUBwiseDebug debug; |
135 | // public DUBwiseDebug debug; |
| 136 | 136 | ||
| 137 | public UFOProber ufo_prober; |
137 | public UFOProber ufo_prober; |
| 138 | public long connection_start_time=-1; |
138 | public long connection_start_time=-1; |
| 139 | 139 | ||
| 140 | 140 | ||
| 141 | public String error_str = null; |
141 | public String error_str = null; |
| 142 | 142 | ||
| 143 | 143 | ||
| 144 | public final static int FC_SLAVE_ADDR = 'a'+1; |
144 | public final static int FC_SLAVE_ADDR = 'a'+1; |
| 145 | public final static int NAVI_SLAVE_ADDR = 'a'+2; |
145 | public final static int NAVI_SLAVE_ADDR = 'a'+2; |
| 146 | public final static int MK3MAG_SLAVE_ADDR = 'a'+3; |
146 | public final static int MK3MAG_SLAVE_ADDR = 'a'+3; |
| 147 | 147 | ||
| 148 | 148 | ||
| 149 | 149 | ||
| 150 | 150 | ||
| 151 | /****************** Section: private Attributes **********************************************/ |
151 | /****************** Section: private Attributes **********************************************/ |
| 152 | //#ifdef j2me |
152 | //#ifdef j2me |
| 153 | //# private javax.microedition.io.StreamConnection connection; |
153 | //# private javax.microedition.io.StreamConnection connection; |
| 154 | //#endif |
154 | //#endif |
| 155 | 155 | ||
| 156 | //#ifdef android |
156 | //#ifdef android |
| 157 | // java.net.Socket connection; |
157 | // java.net.Socket connection; |
| 158 | java.net.Socket connection; |
158 | java.net.Socket connection; |
| 159 | //#endif |
159 | //#endif |
| 160 | 160 | ||
| 161 | 161 | ||
| 162 | private java.io.InputStream reader; |
162 | private java.io.InputStream reader; |
| 163 | private java.io.OutputStream writer; |
163 | private java.io.OutputStream writer; |
| 164 | 164 | ||
| 165 | 165 | ||
| 166 | 166 | ||
| 167 | public String name; |
167 | public String name; |
| 168 | // DUBwise root; |
168 | // DUBwise root; |
| 169 | 169 | ||
| 170 | 170 | ||
| 171 | private boolean sending=false; |
171 | private boolean sending=false; |
| 172 | private boolean recieving=false; |
172 | private boolean recieving=false; |
| 173 | 173 | ||
| 174 | 174 | ||
| 175 | 175 | ||
| 176 | /****************** Section: public Methods ************************************************/ |
176 | /****************** Section: public Methods ************************************************/ |
| 177 | public MKCommunicator() |
177 | public MKCommunicator() |
| 178 | { |
178 | { |
| 179 | 179 | ||
| 180 | data_buff=new String[DATA_BUFF_LEN]; |
180 | data_buff=new String[DATA_BUFF_LEN]; |
| 181 | for (int i=0;i<DATA_BUFF_LEN;i++) |
181 | for (int i=0;i<DATA_BUFF_LEN;i++) |
| 182 | data_buff[i]=""; |
182 | data_buff[i]=""; |
| 183 | // debug=debug_; |
183 | // debug=debug_; |
| 184 | // root=root_; |
184 | // root=root_; |
| 185 | version=new MKVersion(); |
185 | version=new MKVersion(); |
| 186 | debug_data=new MKDebugData(); |
186 | debug_data=new MKDebugData(); |
| 187 | stick_data=new MKStickData(); |
187 | stick_data=new MKStickData(); |
| 188 | params=new MKParamsParser(); |
188 | params=new MKParamsParser(); |
| 189 | extern_control=new int[EXTERN_CONTROL_LENGTH]; |
189 | extern_control=new int[EXTERN_CONTROL_LENGTH]; |
| 190 | extern_control[EXTERN_CONTROL_CONFIG]=1; |
190 | extern_control[EXTERN_CONTROL_CONFIG]=1; |
| 191 | extern_control[EXTERN_CONTROL_FRAME]=1; |
191 | extern_control[EXTERN_CONTROL_FRAME]=1; |
| 192 | 192 | ||
| 193 | LCD= new MKLCD(this); |
193 | LCD= new MKLCD(this); |
| 194 | watchdog=new MKWatchDog(this); |
194 | watchdog=new MKWatchDog(this); |
| 195 | gps_position=new MKGPSPosition(); |
195 | gps_position=new MKGPSPosition(); |
| 196 | stats = new MKStatistics(); |
196 | stats = new MKStatistics(); |
| 197 | proxy =new MKProxy(this); |
197 | proxy =new MKProxy(this); |
| 198 | ufo_prober=new UFOProber(); |
198 | ufo_prober=new UFOProber(); |
| 199 | new Thread( this ).start(); // fire up main Thread |
199 | new Thread( this ).start(); // fire up main Thread |
| 200 | } |
200 | } |
| 201 | 201 | ||
| 202 | 202 | ||
| 203 | 203 | ||
| 204 | public void write_raw(byte[] _data) |
204 | public void write_raw(byte[] _data) |
| 205 | { |
205 | { |
| 206 | wait4send(); |
206 | wait4send(); |
| 207 | sending=true; |
207 | sending=true; |
| 208 | try { |
208 | try { |
| 209 | writer.write(_data,0,_data.length); |
209 | writer.write(_data,0,_data.length); |
| 210 | writer.flush(); |
210 | writer.flush(); |
| 211 | 211 | ||
| 212 | stats.bytes_out+=_data.length; |
212 | stats.bytes_out+=_data.length; |
| 213 | } |
213 | } |
| 214 | catch ( Exception e){} |
214 | catch ( Exception e){} |
| 215 | sending=false; |
215 | sending=false; |
| 216 | } |
216 | } |
| 217 | 217 | ||
| 218 | public void do_proxy(String proxy_url) |
218 | public void do_proxy(String proxy_url) |
| 219 | { |
219 | { |
| 220 | proxy.connect(proxy_url); |
220 | proxy.connect(proxy_url); |
| 221 | } |
221 | } |
| 222 | 222 | ||
| 223 | // int port; |
223 | // int port; |
| 224 | 224 | ||
| 225 | // URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control |
225 | // URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control |
| 226 | public void connect_to(String _url,String _name) |
226 | public void connect_to(String _url,String _name) |
| 227 | { |
227 | { |
| 228 | // port=_port; |
228 | // port=_port; |
| 229 | mk_url=_url; // remember URL for connecting / reconnecting later |
229 | mk_url=_url; // remember URL for connecting / reconnecting later |
| 230 | name=_name; |
230 | name=_name; |
| 231 | force_disconnect=false; |
231 | force_disconnect=false; |
| 232 | connected=false; |
232 | connected=false; |
| 233 | } |
233 | } |
| 234 | 234 | ||
| 235 | public boolean ready() |
235 | public boolean ready() |
| 236 | { |
236 | { |
| 237 | return (connected&&(version.major!=-1)); |
237 | return (connected&&(version.major!=-1)); |
| 238 | } |
238 | } |
| 239 | 239 | ||
| 240 | 240 | ||
| 241 | public String get_buff(int age) |
241 | public String get_buff(int age) |
| 242 | { |
242 | { |
| 243 | 243 | ||
| 244 | age%=DATA_BUFF_LEN; |
244 | age%=DATA_BUFF_LEN; |
| 245 | 245 | ||
| 246 | if (age<=data_buff_pos) |
246 | if (age<=data_buff_pos) |
| 247 | return ""+data_buff[data_buff_pos-age]; |
247 | return ""+data_buff[data_buff_pos-age]; |
| 248 | else |
248 | else |
| 249 | return ""+data_buff[DATA_BUFF_LEN+data_buff_pos-age]; |
249 | return ""+data_buff[DATA_BUFF_LEN+data_buff_pos-age]; |
| 250 | 250 | ||
| 251 | 251 | ||
| 252 | } |
252 | } |
| 253 | /****************** Section: private Methods ************************************************/ |
253 | /****************** Section: private Methods ************************************************/ |
| 254 | private void connect() |
254 | private void connect() |
| 255 | { |
255 | { |
| 256 | log("trying to connect to" + mk_url); |
256 | log("trying to connect to" + mk_url); |
| 257 | try{ |
257 | try{ |
| 258 | 258 | ||
| 259 | // old call |
259 | // old call |
| 260 | // connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE); |
260 | // connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE); |
| 261 | 261 | ||
| 262 | //#ifdef android |
262 | //#ifdef android |
| 263 | connection = (new java.net.Socket(mk_url.split(":")[0],Integer.parseInt(mk_url.split(":")[1]))); |
263 | connection = (new java.net.Socket(mk_url.split(":")[0],Integer.parseInt(mk_url.split(":")[1]))); |
| 264 | //.Socket |
264 | //.Socket |
| 265 | 265 | ||
| 266 | reader=connection.getInputStream(); |
266 | reader=connection.getInputStream(); |
| 267 | writer=connection.getOutputStream(); |
267 | writer=connection.getOutputStream(); |
| 268 | 268 | ||
| 269 | String magic="conn:foo bar\r\n"; |
269 | String magic="conn:foo bar\r\n"; |
| 270 | writer.write(magic.getBytes()); |
270 | writer.write(magic.getBytes()); |
| 271 | writer.flush(); |
271 | writer.flush(); |
| 272 | 272 | ||
| 273 | //#else |
273 | //#else |
| 274 | 274 | ||
| 275 | //# connection = (StreamConnection) Connector.open(mk_url); |
275 | //# connection = (StreamConnection) Connector.open(mk_url); |
| 276 | 276 | ||
| 277 | //# reader=connection.openInputStream(); |
277 | //# reader=connection.openInputStream(); |
| 278 | //# writer=connection.openOutputStream(); |
278 | //# writer=connection.openOutputStream(); |
| 279 | 279 | ||
| 280 | //#endif |
280 | //#endif |
| 281 | connection_start_time=System.currentTimeMillis(); |
281 | connection_start_time=System.currentTimeMillis(); |
| 282 | connected=true; // if we get here everything seems to be OK |
282 | connected=true; // if we get here everything seems to be OK |
| 283 | 283 | ||
| 284 | stats.reset(); |
284 | stats.reset(); |
| 285 | 285 | ||
| 286 | log("connecting OK"); |
286 | log("connecting OK"); |
| 287 | } |
287 | } |
| 288 | catch (Exception ex) |
288 | catch (Exception ex) |
| 289 | { |
289 | { |
| 290 | // TODO difference fatal errors from those which will lead to reconnection |
290 | // TODO difference fatal errors from those which will lead to reconnection |
| 291 | log("Problem connecting" + "\n" + ex); |
291 | log("Problem connecting" + "\n" + ex); |
| 292 | } |
292 | } |
| 293 | } |
293 | } |
| 294 | 294 | ||
| 295 | public int[] Decode64(byte[] in_arr, int offset,int len) |
295 | public int[] Decode64(byte[] in_arr, int offset,int len) |
| 296 | { |
296 | { |
| 297 | int ptrIn=offset; |
297 | int ptrIn=offset; |
| 298 | int a,b,c,d,x,y,z; |
298 | int a,b,c,d,x,y,z; |
| 299 | int ptr=0; |
299 | int ptr=0; |
| 300 | 300 | ||
| 301 | int[] out_arr=new int[len]; |
301 | int[] out_arr=new int[len]; |
| 302 | 302 | ||
| 303 | while(len!=0) |
303 | while(len!=0) |
| 304 | { |
304 | { |
| 305 | a=0; |
305 | a=0; |
| 306 | b=0; |
306 | b=0; |
| 307 | c=0; |
307 | c=0; |
| 308 | d=0; |
308 | d=0; |
| 309 | try { |
309 | try { |
| 310 | a = in_arr[ptrIn++] - '='; |
310 | a = in_arr[ptrIn++] - '='; |
| 311 | b = in_arr[ptrIn++] - '='; |
311 | b = in_arr[ptrIn++] - '='; |
| 312 | c = in_arr[ptrIn++] - '='; |
312 | c = in_arr[ptrIn++] - '='; |
| 313 | d = in_arr[ptrIn++] - '='; |
313 | d = in_arr[ptrIn++] - '='; |
| 314 | } |
314 | } |
| 315 | catch (Exception e) {} |
315 | catch (Exception e) {} |
| 316 | //if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
316 | //if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| 317 | 317 | ||
| 318 | x = (a << 2) | (b >> 4); |
318 | x = (a << 2) | (b >> 4); |
| 319 | y = ((b & 0x0f) << 4) | (c >> 2); |
319 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 320 | z = ((c & 0x03) << 6) | d; |
320 | z = ((c & 0x03) << 6) | d; |
| 321 | 321 | ||
| 322 | if((len--)!=0) out_arr[ptr++] = x; else break; |
322 | if((len--)!=0) out_arr[ptr++] = x; else break; |
| 323 | if((len--)!=0) out_arr[ptr++] = y; else break; |
323 | if((len--)!=0) out_arr[ptr++] = y; else break; |
| 324 | if((len--)!=0) out_arr[ptr++] = z; else break; |
324 | if((len--)!=0) out_arr[ptr++] = z; else break; |
| 325 | } |
325 | } |
| 326 | 326 | ||
| 327 | return out_arr; |
327 | return out_arr; |
| 328 | 328 | ||
| 329 | } |
329 | } |
| 330 | 330 | ||
| 331 | public void wait4send() |
331 | public void wait4send() |
| 332 | { |
332 | { |
| 333 | while(sending) //||recieving) |
333 | while(sending) //||recieving) |
| 334 | sleep(50); |
334 | sleep(50); |
| 335 | } |
335 | } |
| 336 | 336 | ||
| 337 | 337 | ||
| 338 | public void sleep(int time) |
338 | public void sleep(int time) |
| 339 | { |
339 | { |
| 340 | try { Thread.sleep(time); } |
340 | try { Thread.sleep(time); } |
| 341 | catch (Exception e) { } |
341 | catch (Exception e) { } |
| 342 | } |
342 | } |
| 343 | 343 | ||
| 344 | // FC - Function Mappers |
344 | // FC - Function Mappers |
| 345 | 345 | ||
| 346 | // send a version Request to the FC - the reply to this request will be processed in process_data when it arrives |
346 | // send a version Request to the FC - the reply to this request will be processed in process_data when it arrives |
| 347 | public void get_version() |
347 | public void get_version() |
| 348 | { |
348 | { |
| 349 | stats.version_data_request_count++; |
349 | stats.version_data_request_count++; |
| 350 | send_command(0,'v'); |
350 | send_command(0,'v'); |
| 351 | } |
351 | } |
| 352 | 352 | ||
| 353 | public void set_gps_target(int longitude,int latitude) |
353 | public void set_gps_target(int longitude,int latitude) |
| 354 | { |
354 | { |
| 355 | int[] target=new int[8]; |
355 | int[] target=new int[8]; |
| 356 | target[0]= (0xFF)&(longitude<<24); |
356 | target[0]= (0xFF)&(longitude<<24); |
| 357 | target[1]= (0xFF)&(longitude<<16); |
357 | target[1]= (0xFF)&(longitude<<16); |
| 358 | target[2]= (0xFF)&(longitude<<8); |
358 | target[2]= (0xFF)&(longitude<<8); |
| 359 | target[3]= (0xFF)&(longitude); |
359 | target[3]= (0xFF)&(longitude); |
| 360 | // send_command(0,'s',target); |
360 | // send_command(0,'s',target); |
| 361 | } |
361 | } |
| 362 | 362 | ||
| 363 | // send a MotorTest request - params are the speed for each Motor |
363 | // send a MotorTest request - params are the speed for each Motor |
| 364 | public void motor_test(int[] params) |
364 | public void motor_test(int[] params) |
| 365 | { |
365 | { |
| 366 | stats.motortest_request_count++; |
366 | stats.motortest_request_count++; |
| 367 | send_command(FC_SLAVE_ADDR,'t',params); |
367 | send_command(FC_SLAVE_ADDR,'t',params); |
| 368 | } |
368 | } |
| 369 | 369 | ||
| 370 | 370 | ||
| 371 | public void send_extern_control() |
371 | public void send_extern_control() |
| 372 | { |
372 | { |
| 373 | 373 | ||
| 374 | stats.external_control_request_count++; |
374 | stats.external_control_request_count++; |
| 375 | send_command(FC_SLAVE_ADDR,'b',extern_control); |
375 | send_command(FC_SLAVE_ADDR,'b',extern_control); |
| 376 | } |
376 | } |
| 377 | 377 | ||
| 378 | /* public void send_keys(int[] params) |
378 | /* public void send_keys(int[] params) |
| 379 | { |
379 | { |
| 380 | send_command(FC_SLAVE_ADDR,'k',params); |
380 | send_command(FC_SLAVE_ADDR,'k',params); |
| 381 | }*/ |
381 | }*/ |
| 382 | 382 | ||
| 383 | // get params |
383 | // get params |
| 384 | public void get_params(int id) |
384 | public void get_params(int id) |
| 385 | { |
385 | { |
| 386 | wait4send(); |
386 | wait4send(); |
| 387 | send_command(FC_SLAVE_ADDR,'q',id+1); |
387 | send_command(FC_SLAVE_ADDR,'q',id+1); |
| 388 | stats.params_data_request_count++; |
388 | stats.params_data_request_count++; |
| 389 | } |
389 | } |
| 390 | 390 | ||
| 391 | public void get_debug_name(int id) |
391 | public void get_debug_name(int id) |
| 392 | { |
392 | { |
| 393 | 393 | ||
| 394 | wait4send(); |
394 | wait4send(); |
| 395 | send_command(0,'a',id); |
395 | send_command(0,'a',id); |
| 396 | } |
396 | } |
| 397 | 397 | ||
| 398 | 398 | ||
| 399 | public void trigger_LCD_by_page(int page) |
399 | public void trigger_LCD_by_page(int page) |
| 400 | { |
400 | { |
| 401 | wait4send(); |
401 | wait4send(); |
| 402 | send_command(0,'l',page); |
402 | send_command(0,'l',page); |
| 403 | stats.lcd_data_request_count++; |
403 | stats.lcd_data_request_count++; |
| 404 | } |
404 | } |
| 405 | 405 | ||
| 406 | public void trigger_debug() |
406 | public void trigger_debug() |
| 407 | { |
407 | { |
| 408 | if (sending||recieving) return; // its not that important - can be dropped |
408 | if (sending||recieving) return; // its not that important - can be dropped |
| 409 | send_command(0,'c'); |
409 | send_command(0,'c'); |
| 410 | } |
410 | } |
| 411 | 411 | ||
| 412 | 412 | ||
| 413 | public void switch_todo() |
413 | public void switch_todo() |
| 414 | { |
414 | { |
| 415 | sleep(50); |
415 | sleep(50); |
| 416 | version=new MKVersion(); |
416 | version=new MKVersion(); |
| 417 | LCD= new MKLCD(this); |
417 | LCD= new MKLCD(this); |
| 418 | debug_data=new MKDebugData(); |
418 | debug_data=new MKDebugData(); |
| 419 | 419 | ||
| 420 | } |
420 | } |
| 421 | 421 | ||
| 422 | public void switch_to_fc() |
422 | public void switch_to_fc() |
| 423 | { |
423 | { |
| 424 | wait4send(); |
424 | wait4send(); |
| 425 | send_command(NAVI_SLAVE_ADDR,'u',0); |
425 | send_command(NAVI_SLAVE_ADDR,'u',0); |
| 426 | switch_todo(); |
426 | switch_todo(); |
| 427 | 427 | ||
| 428 | } |
428 | } |
| 429 | 429 | ||
| 430 | 430 | ||
| 431 | public void switch_to_mk3mag() |
431 | public void switch_to_mk3mag() |
| 432 | { |
432 | { |
| 433 | wait4send(); |
433 | wait4send(); |
| 434 | send_command(NAVI_SLAVE_ADDR ,'u',1); |
434 | send_command(NAVI_SLAVE_ADDR ,'u',1); |
| 435 | switch_todo(); |
435 | switch_todo(); |
| 436 | } |
436 | } |
| 437 | 437 | ||
| 438 | public final static byte[] navi_switch_magic={27,27,0x55,(byte)0xAA,0,(byte)'\r'}; |
438 | public final static byte[] navi_switch_magic={27,27,0x55,(byte)0xAA,0,(byte)'\r'}; |
| 439 | public void switch_to_navi() |
439 | public void switch_to_navi() |
| 440 | { |
440 | { |
| 441 | wait4send(); |
441 | wait4send(); |
| 442 | sending=true; |
442 | sending=true; |
| 443 | try |
443 | try |
| 444 | { |
444 | { |
| 445 | writer.write(navi_switch_magic); |
445 | writer.write(navi_switch_magic); |
| 446 | stats.bytes_out+=6; |
446 | stats.bytes_out+=6; |
| 447 | writer.flush(); |
447 | writer.flush(); |
| 448 | } |
448 | } |
| 449 | catch (Exception e) { } |
449 | catch (Exception e) { } |
| 450 | sending=false; |
450 | sending=false; |
| 451 | 451 | ||
| 452 | switch_todo(); |
452 | switch_todo(); |
| 453 | 453 | ||
| 454 | } |
454 | } |
| 455 | 455 | ||
| 456 | public String[] flash_msgs; |
456 | public String[] flash_msgs; |
| 457 | int msg_pos=0; |
457 | int msg_pos=0; |
| 458 | 458 | ||
| 459 | 459 | ||
| 460 | public boolean bootloader_intension_flash=false; |
460 | public boolean bootloader_intension_flash=false; |
| 461 | 461 | ||
| 462 | public boolean bootloader_finish_ok=false; |
462 | public boolean bootloader_finish_ok=false; |
| 463 | 463 | ||
| 464 | public void jump_bootloader() |
464 | public void jump_bootloader() |
| 465 | { |
465 | { |
| 466 | 466 | ||
| 467 | bootloader_finish_ok=false; |
467 | bootloader_finish_ok=false; |
| 468 | msg_pos=0; |
468 | msg_pos=0; |
| 469 | bootloader_stage= BOOTLOADER_STAGE_NONE; |
469 | bootloader_stage= BOOTLOADER_STAGE_NONE; |
| 470 | flash_msgs=new String[100]; |
470 | flash_msgs=new String[100]; |
| 471 | flash_msgs[msg_pos++]="Initiializing Bootloader"; |
471 | flash_msgs[msg_pos++]="Initiializing Bootloader"; |
| 472 | wait4send(); |
472 | wait4send(); |
| 473 | sending=true; |
473 | sending=true; |
| 474 | 474 | ||
| 475 | try |
475 | try |
| 476 | { |
476 | { |
| 477 | int attempt=0; |
477 | int attempt=0; |
| 478 | 478 | ||
| 479 | while(bootloader_stage!= BOOTLOADER_STAGE_GOT_MKBL) |
479 | while(bootloader_stage!= BOOTLOADER_STAGE_GOT_MKBL) |
| 480 | { |
480 | { |
| 481 | flash_msgs[msg_pos]="attempt "+attempt; |
481 | flash_msgs[msg_pos]="attempt "+attempt; |
| 482 | attempt++; |
482 | attempt++; |
| 483 | send_command_nocheck((byte)FC_SLAVE_ADDR,'R',new int[0]); |
483 | send_command_nocheck((byte)FC_SLAVE_ADDR,'R',new int[0]); |
| 484 | 484 | ||
| 485 | try{ |
485 | try{ |
| 486 | writer.write( 27); |
486 | writer.write( 27); |
| 487 | writer.flush(); |
487 | writer.flush(); |
| 488 | 488 | ||
| 489 | sleep(20); |
489 | sleep(20); |
| 490 | 490 | ||
| 491 | writer.write( 0xAA); |
491 | writer.write( 0xAA); |
| 492 | writer.flush(); |
492 | writer.flush(); |
| 493 | } |
493 | } |
| 494 | catch (Exception e) { } |
494 | catch (Exception e) { } |
| 495 | sleep((attempt%2==0)?80:800); //800 |
495 | sleep((attempt%2==0)?80:800); //800 |
| 496 | } |
496 | } |
| 497 | msg_pos++; |
497 | msg_pos++; |
| 498 | } |
498 | } |
| 499 | 499 | ||
| 500 | catch (Exception e) { |
500 | catch (Exception e) { |
| 501 | flash_msgs[msg_pos++]="Exception:" +e.getMessage() ; |
501 | flash_msgs[msg_pos++]="Exception:" +e.getMessage() ; |
| 502 | flash_msgs[msg_pos++]=e.toString() ; |
502 | flash_msgs[msg_pos++]=e.toString() ; |
| 503 | } |
503 | } |
| 504 | 504 | ||
| 505 | new Thread( this ).start(); // fire up main Thread |
505 | new Thread( this ).start(); // fire up main Thread |
| 506 | } |
506 | } |
| 507 | 507 | ||
| 508 | 508 | ||
| 509 | public void get_error_str() |
509 | public void get_error_str() |
| 510 | { |
510 | { |
| 511 | send_command(NAVI_SLAVE_ADDR,'e'); |
511 | send_command(NAVI_SLAVE_ADDR,'e'); |
| 512 | } |
512 | } |
| 513 | 513 | ||
| 514 | public void trigger_rcdata() |
514 | public void trigger_rcdata() |
| 515 | { |
515 | { |
| 516 | send_command(FC_SLAVE_ADDR,'p'); |
516 | send_command(FC_SLAVE_ADDR,'p'); |
| 517 | } |
517 | } |
| 518 | 518 | ||
| 519 | 519 | ||
| 520 | public void write_params(int to) |
520 | public void write_params(int to) |
| 521 | { |
521 | { |
| 522 | params.update_backup(to); |
522 | params.update_backup(to); |
| 523 | wait4send(); |
523 | wait4send(); |
| - | 524 | params.active_paramset=to; |
|
| 524 | send_command(FC_SLAVE_ADDR,'s',params.field_bak[to]); |
525 | send_command(FC_SLAVE_ADDR,'s',params.field_bak[to]); |
| 525 | } |
526 | } |
| 526 | 527 | ||
| 527 | public void send_command(int modul,char cmd) |
528 | public void send_command(int modul,char cmd) |
| 528 | { |
529 | { |
| 529 | send_command(modul,cmd,new int[0]); |
530 | send_command(modul,cmd,new int[0]); |
| 530 | } |
531 | } |
| 531 | 532 | ||
| 532 | public void send_command(int modul,char cmd,int param) |
533 | public void send_command(int modul,char cmd,int param) |
| 533 | { |
534 | { |
| 534 | int[] params=new int[1]; |
535 | int[] params=new int[1]; |
| 535 | params[0]=param; |
536 | params[0]=param; |
| 536 | send_command(modul,cmd,params); |
537 | send_command(modul,cmd,params); |
| 537 | } |
538 | } |
| 538 | 539 | ||
| 539 | public void send_command_nocheck(byte modul,char cmd,int[] params) |
540 | public void send_command_nocheck(byte modul,char cmd,int[] params) |
| 540 | { |
541 | { |
| 541 | // char[] send_buff=new char[5 + (params.length/3 + (params.length%3==0?0:1) )*4]; // 5=1*start_char+1*addr+1*cmd+2*crc |
542 | // char[] send_buff=new char[5 + (params.length/3 + (params.length%3==0?0:1) )*4]; // 5=1*start_char+1*addr+1*cmd+2*crc |
| 542 | 543 | ||
| 543 | byte[] send_buff=new byte[3 + (params.length/3 + (params.length%3==0?0:1) )*4]; // 5=1*start_char+1*addr+1*cmd+2*crc |
544 | byte[] send_buff=new byte[3 + (params.length/3 + (params.length%3==0?0:1) )*4]; // 5=1*start_char+1*addr+1*cmd+2*crc |
| 544 | send_buff[0]='#'; |
545 | send_buff[0]='#'; |
| 545 | send_buff[1]=modul; |
546 | send_buff[1]=modul; |
| 546 | send_buff[2]=(byte)cmd; |
547 | send_buff[2]=(byte)cmd; |
| 547 | 548 | ||
| 548 | for(int param_pos=0;param_pos<(params.length/3 + (params.length%3==0?0:1)) ;param_pos++) |
549 | for(int param_pos=0;param_pos<(params.length/3 + (params.length%3==0?0:1)) ;param_pos++) |
| 549 | { |
550 | { |
| 550 | int a = (param_pos*3<params.length)?params[param_pos*3]:0; |
551 | int a = (param_pos*3<params.length)?params[param_pos*3]:0; |
| 551 | int b = ((param_pos*3+1)<params.length)?params[param_pos*3+1]:0; |
552 | int b = ((param_pos*3+1)<params.length)?params[param_pos*3+1]:0; |
| 552 | int c = ((param_pos*3+2)<params.length)?params[param_pos*3+2]:0; |
553 | int c = ((param_pos*3+2)<params.length)?params[param_pos*3+2]:0; |
| 553 | 554 | ||
| 554 | send_buff[3+param_pos*4] = (byte)((a >> 2)+'=' ); |
555 | send_buff[3+param_pos*4] = (byte)((a >> 2)+'=' ); |
| 555 | send_buff[3+param_pos*4+1] = (byte)('=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4))); |
556 | send_buff[3+param_pos*4+1] = (byte)('=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4))); |
| 556 | send_buff[3+param_pos*4+2] = (byte)('=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6))); |
557 | send_buff[3+param_pos*4+2] = (byte)('=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6))); |
| 557 | send_buff[3+param_pos*4+3] = (byte)('=' + ( c & 0x3f)); |
558 | send_buff[3+param_pos*4+3] = (byte)('=' + ( c & 0x3f)); |
| 558 | 559 | ||
| 559 | //send_buff[3+foo]='='; |
560 | //send_buff[3+foo]='='; |
| 560 | } |
561 | } |
| 561 | 562 | ||
| 562 | /* for(int foo=0;foo<(params.length/3 + (params.length%3==0?0:1) )*4;foo++) |
563 | /* for(int foo=0;foo<(params.length/3 + (params.length%3==0?0:1) )*4;foo++) |
| 563 | { |
564 | { |
| 564 | int a = (foo<params.length) params[foo]; |
565 | int a = (foo<params.length) params[foo]; |
| 565 | int a = params[foo]; |
566 | int a = params[foo]; |
| 566 | |
567 | |
| 567 | //send_buff[3+foo]='='; |
568 | //send_buff[3+foo]='='; |
| 568 | } |
569 | } |
| 569 | */ |
570 | */ |
| 570 | try |
571 | try |
| 571 | { |
572 | { |
| 572 | int tmp_crc=0; |
573 | int tmp_crc=0; |
| 573 | for ( int tmp_i=0; tmp_i<send_buff.length;tmp_i++) |
574 | for ( int tmp_i=0; tmp_i<send_buff.length;tmp_i++) |
| 574 | tmp_crc+=(int)send_buff[tmp_i]; |
575 | tmp_crc+=(int)send_buff[tmp_i]; |
| 575 | 576 | ||
| 576 | writer.write(send_buff,0,send_buff.length); |
577 | writer.write(send_buff,0,send_buff.length); |
| 577 | tmp_crc%=4096; |
578 | tmp_crc%=4096; |
| 578 | 579 | ||
| 579 | writer.write( (char)(tmp_crc/64 + '=')); |
580 | writer.write( (char)(tmp_crc/64 + '=')); |
| 580 | writer.write( (char)(tmp_crc%64 + '=')); |
581 | writer.write( (char)(tmp_crc%64 + '=')); |
| 581 | writer.write('\r'); |
582 | writer.write('\r'); |
| 582 | stats.bytes_out+=send_buff.length+3; |
583 | stats.bytes_out+=send_buff.length+3; |
| 583 | writer.flush(); |
584 | writer.flush(); |
| 584 | } |
585 | } |
| 585 | catch (Exception e) |
586 | catch (Exception e) |
| 586 | { // problem sending data to FC |
587 | { // problem sending data to FC |
| 587 | } |
588 | } |
| 588 | 589 | ||
| 589 | } |
590 | } |
| 590 | // send command to FC ( add crc and pack into pseudo Base64 |
591 | // send command to FC ( add crc and pack into pseudo Base64 |
| 591 | public void send_command(int modul,char cmd,int[] params) |
592 | public void send_command(int modul,char cmd,int[] params) |
| 592 | { |
593 | { |
| 593 | // if (modul==0) return; |
594 | // if (modul==0) return; |
| 594 | sending=true; |
595 | sending=true; |
| 595 | send_command_nocheck((byte)modul,cmd,params); |
596 | send_command_nocheck((byte)modul,cmd,params); |
| 596 | sending=false; |
597 | sending=false; |
| 597 | } |
598 | } |
| 598 | 599 | ||
| 599 | 600 | ||
| 600 | public int slave_addr=-1; |
601 | public int slave_addr=-1; |
| 601 | 602 | ||
| 602 | 603 | ||
| 603 | public int UBatt() |
604 | public int UBatt() |
| 604 | { |
605 | { |
| 605 | if (ufo_prober.is_mk()) |
606 | if (ufo_prober.is_mk()) |
| 606 | return debug_data.UBatt(); |
607 | return debug_data.UBatt(); |
| 607 | else if (ufo_prober.is_navi()) |
608 | else if (ufo_prober.is_navi()) |
| 608 | return gps_position.UBatt; |
609 | return gps_position.UBatt; |
| 609 | 610 | ||
| 610 | return -1; |
611 | return -1; |
| 611 | 612 | ||
| 612 | } |
613 | } |
| 613 | 614 | ||
| 614 | 615 | ||
| 615 | 616 | ||
| 616 | public int SenderOkay() |
617 | public int SenderOkay() |
| 617 | { |
618 | { |
| 618 | if (ufo_prober.is_mk()) |
619 | if (ufo_prober.is_mk()) |
| 619 | return debug_data.SenderOkay(); |
620 | return debug_data.SenderOkay(); |
| 620 | else if (ufo_prober.is_navi()) |
621 | else if (ufo_prober.is_navi()) |
| 621 | return gps_position.SenderOkay; |
622 | return gps_position.SenderOkay; |
| 622 | 623 | ||
| 623 | return -1; |
624 | return -1; |
| 624 | 625 | ||
| 625 | } |
626 | } |
| 626 | 627 | ||
| 627 | 628 | ||
| 628 | public void process_data(byte[] data,int len) |
629 | public void process_data(byte[] data,int len) |
| 629 | { |
630 | { |
| 630 | 631 | ||
| 631 | 632 | ||
| 632 | log("command " +(char)data[2] ); |
633 | log("command " +(char)data[2] ); |
| 633 | switch((char)data[2]) |
634 | switch((char)data[2]) |
| 634 | { |
635 | { |
| 635 | 636 | ||
| 636 | case 'A': // debug Data Names |
637 | case 'A': // debug Data Names |
| 637 | stats.debug_names_count++; |
638 | stats.debug_names_count++; |
| 638 | debug_data.set_names_by_mk_data(Decode64(data,3,len-3)); |
639 | debug_data.set_names_by_mk_data(Decode64(data,3,len-3)); |
| 639 | break; |
640 | break; |
| 640 | 641 | ||
| 641 | case 'B': // external_control confirm frames |
642 | case 'B': // external_control confirm frames |
| 642 | stats.external_control_confirm_frame_count++; |
643 | stats.external_control_confirm_frame_count++; |
| 643 | break; |
644 | break; |
| 644 | 645 | ||
| 645 | case 'L': // LCD Data |
646 | case 'L': // LCD Data |
| 646 | stats.lcd_data_count++; |
647 | stats.lcd_data_count++; |
| 647 | LCD.handle_lcd_data(Decode64(data,3,len-3)); |
648 | LCD.handle_lcd_data(Decode64(data,3,len-3)); |
| 648 | 649 | ||
| 649 | break; |
650 | break; |
| 650 | 651 | ||
| 651 | case 'D': // debug Data |
652 | case 'D': // debug Data |
| 652 | log("got debug data"); |
653 | log("got debug data"); |
| 653 | stats.debug_data_count++; |
654 | stats.debug_data_count++; |
| 654 | debug_data.set_by_mk_data(Decode64(data,3,len-3),version); |
655 | debug_data.set_by_mk_data(Decode64(data,3,len-3),version); |
| 655 | log("processed debug data"); |
656 | log("processed debug data"); |
| 656 | break; |
657 | break; |
| 657 | 658 | ||
| 658 | case 'V': // Version Info |
659 | case 'V': // Version Info |
| 659 | stats.version_data_count++; |
660 | stats.version_data_count++; |
| 660 | slave_addr=data[1]; |
661 | slave_addr=data[1]; |
| 661 | 662 | ||
| 662 | switch(slave_addr) |
663 | switch(slave_addr) |
| 663 | { |
664 | { |
| 664 | case FC_SLAVE_ADDR: |
665 | case FC_SLAVE_ADDR: |
| 665 | ufo_prober.set_to_mk(); |
666 | ufo_prober.set_to_mk(); |
| 666 | break; |
667 | break; |
| 667 | 668 | ||
| 668 | case NAVI_SLAVE_ADDR: |
669 | case NAVI_SLAVE_ADDR: |
| 669 | ufo_prober.set_to_navi(); |
670 | ufo_prober.set_to_navi(); |
| 670 | break; |
671 | break; |
| 671 | 672 | ||
| 672 | case MK3MAG_SLAVE_ADDR: |
673 | case MK3MAG_SLAVE_ADDR: |
| 673 | // ufo_prober.set_to_mk(); |
674 | // ufo_prober.set_to_mk(); |
| 674 | ufo_prober.set_to_mk3mag(); |
675 | ufo_prober.set_to_mk3mag(); |
| 675 | break; |
676 | break; |
| 676 | 677 | ||
| 677 | default: |
678 | default: |
| 678 | ufo_prober.set_to_incompatible(); |
679 | ufo_prober.set_to_incompatible(); |
| 679 | break; |
680 | break; |
| 680 | } |
681 | } |
| 681 | 682 | ||
| 682 | 683 | ||
| 683 | version.set_by_mk_data(Decode64(data,3,len-3)); |
684 | version.set_by_mk_data(Decode64(data,3,len-3)); |
| 684 | break; |
685 | break; |
| 685 | 686 | ||
| 686 | case 'w': |
687 | case 'w': |
| 687 | int[] dec=Decode64(data,3,len-3); |
688 | int[] dec=Decode64(data,3,len-3); |
| 688 | angle_nick=MKHelper.parse_signed_int_2(dec[0],dec[1]); |
689 | angle_nick=MKHelper.parse_signed_int_2(dec[0],dec[1]); |
| 689 | angle_roll=MKHelper.parse_signed_int_2(dec[2],dec[3]); |
690 | angle_roll=MKHelper.parse_signed_int_2(dec[2],dec[3]); |
| 690 | stats.angle_data_count++; |
691 | stats.angle_data_count++; |
| 691 | 692 | ||
| 692 | break; |
693 | break; |
| 693 | 694 | ||
| 694 | 695 | ||
| 695 | case 'Q': |
696 | case 'Q': |
| 696 | if (ufo_prober.is_mk()) |
697 | if (ufo_prober.is_mk()) |
| 697 | { |
698 | { |
| 698 | stats.params_data_count++; |
699 | stats.params_data_count++; |
| 699 | params.set_by_mk_data(Decode64(data,3,len-3)); |
700 | params.set_by_mk_data(Decode64(data,3,len-3)); |
| 700 | } |
701 | } |
| 701 | break; |
702 | break; |
| 702 | 703 | ||
| 703 | case 'P': |
704 | case 'P': |
| 704 | stats.stick_data_count++; |
705 | stats.stick_data_count++; |
| 705 | stick_data.set_by_mk_data(Decode64(data,3,20)); |
706 | stick_data.set_by_mk_data(Decode64(data,3,20)); |
| 706 | break; |
707 | break; |
| 707 | 708 | ||
| 708 | 709 | ||
| 709 | case 'E': |
710 | case 'E': |
| 710 | int[] dec_data=Decode64(data,3,len-3); |
711 | int[] dec_data=Decode64(data,3,len-3); |
| 711 | error_str=""; |
712 | error_str=""; |
| 712 | for(int foo=0;foo<20;foo++) |
713 | for(int foo=0;foo<20;foo++) |
| 713 | if (dec_data[foo]!=0) |
714 | if (dec_data[foo]!=0) |
| 714 | error_str+=(char)dec_data[foo]; |
715 | error_str+=(char)dec_data[foo]; |
| 715 | break; |
716 | break; |
| 716 | 717 | ||
| 717 | 718 | ||
| 718 | case 'O': |
719 | case 'O': |
| 719 | stats.navi_data_count++; |
720 | stats.navi_data_count++; |
| 720 | log("got navi data(" + len +"):"); |
721 | log("got navi data(" + len +"):"); |
| 721 | 722 | ||
| 722 | gps_position.set_by_mk_data(Decode64(data,3,len-3),version); |
723 | gps_position.set_by_mk_data(Decode64(data,3,len-3),version); |
| 723 | 724 | ||
| 724 | log("long:" + gps_position.Longitude); |
725 | log("long:" + gps_position.Longitude); |
| 725 | log("lat:" + gps_position.Latitude); |
726 | log("lat:" + gps_position.Latitude); |
| 726 | 727 | ||
| 727 | break; |
728 | break; |
| 728 | 729 | ||
| 729 | 730 | ||
| 730 | // Error from Navi |
731 | // Error from Navi |
| 731 | 732 | ||
| 732 | 733 | ||
| 733 | default: |
734 | default: |
| 734 | stats.other_data_count++; |
735 | stats.other_data_count++; |
| 735 | break; |
736 | break; |
| 736 | 737 | ||
| 737 | } |
738 | } |
| 738 | 739 | ||
| 739 | } |
740 | } |
| 740 | 741 | ||
| 741 | public boolean force_disconnect=true; |
742 | public boolean force_disconnect=true; |
| 742 | 743 | ||
| 743 | public void close_connections(boolean force) |
744 | public void close_connections(boolean force) |
| 744 | { |
745 | { |
| 745 | // if ((!force)&&root.canvas.do_vibra) root.vibrate(500); |
746 | // if ((!force)&&root.canvas.do_vibra) root.vibrate(500); |
| 746 | force_disconnect=force; |
747 | force_disconnect=force; |
| 747 | try{ reader.close(); } |
748 | try{ reader.close(); } |
| 748 | catch (Exception inner_ex) { } |
749 | catch (Exception inner_ex) { } |
| 749 | 750 | ||
| 750 | try{ writer.close(); } |
751 | try{ writer.close(); } |
| 751 | catch (Exception inner_ex) { } |
752 | catch (Exception inner_ex) { } |
| 752 | 753 | ||
| 753 | //#ifdef j2me |
754 | //#ifdef j2me |
| 754 | //# try{ connection.close(); } |
755 | //# try{ connection.close(); } |
| 755 | //# catch (Exception inner_ex) { } |
756 | //# catch (Exception inner_ex) { } |
| 756 | //#endif |
757 | //#endif |
| 757 | ufo_prober.set_to_none(); |
758 | ufo_prober.set_to_none(); |
| 758 | stats.reset(); |
759 | stats.reset(); |
| 759 | connected=false; |
760 | connected=false; |
| 760 | version=new MKVersion(); |
761 | version=new MKVersion(); |
| 761 | } |
762 | } |
| 762 | 763 | ||
| 763 | // Thread to recieve data from Connection |
764 | // Thread to recieve data from Connection |
| 764 | public void run() |
765 | public void run() |
| 765 | { |
766 | { |
| 766 | boolean sigfail=false; |
767 | boolean sigfail=false; |
| 767 | if (bootloader_stage==BOOTLOADER_STAGE_GOT_MKBL) |
768 | if (bootloader_stage==BOOTLOADER_STAGE_GOT_MKBL) |
| 768 | { |
769 | { |
| 769 | try { |
770 | try { |
| 770 | flash_msgs[msg_pos++]="reading avr_sig"; |
771 | flash_msgs[msg_pos++]="reading avr_sig"; |
| 771 | 772 | ||
| 772 | writer.write( 't'); |
773 | writer.write( 't'); |
| 773 | writer.flush(); |
774 | writer.flush(); |
| 774 | 775 | ||
| 775 | int avr_sig=reader.read(); |
776 | int avr_sig=reader.read(); |
| 776 | 777 | ||
| 777 | //while (avr_sig==63) |
778 | //while (avr_sig==63) |
| 778 | // avr_sig=reader.read(); |
779 | // avr_sig=reader.read(); |
| 779 | 780 | ||
| 780 | flash_msgs[msg_pos++]="got avr sig " + avr_sig; |
781 | flash_msgs[msg_pos++]="got avr sig " + avr_sig; |
| 781 | 782 | ||
| 782 | int avrsig_suff=reader.read(); |
783 | int avrsig_suff=reader.read(); |
| 783 | if (avrsig_suff!=0) |
784 | if (avrsig_suff!=0) |
| 784 | throw new Exception("val after avrsig is" +avrsig_suff +"should b 0"); |
785 | throw new Exception("val after avrsig is" +avrsig_suff +"should b 0"); |
| 785 | 786 | ||
| 786 | if ((avr_sig!=0x74)&&(avr_sig!=224)&&(avr_sig!=120)) |
787 | if ((avr_sig!=0x74)&&(avr_sig!=224)&&(avr_sig!=120)) |
| 787 | { |
788 | { |
| 788 | sigfail=true; |
789 | sigfail=true; |
| 789 | throw new Exception("avr sig" + avr_sig + " unknown"); |
790 | throw new Exception("avr sig" + avr_sig + " unknown"); |
| 790 | } |
791 | } |
| 791 | 792 | ||
| 792 | writer.write('T'); |
793 | writer.write('T'); |
| 793 | // writer.flush(); |
794 | // writer.flush(); |
| 794 | writer.write(avr_sig); // set devicetyp = 0x74 oder 0x76 |
795 | writer.write(avr_sig); // set devicetyp = 0x74 oder 0x76 |
| 795 | writer.flush(); |
796 | writer.flush(); |
| 796 | 797 | ||
| 797 | if (reader.read()!=0x0d) |
798 | if (reader.read()!=0x0d) |
| 798 | throw new Exception("cant get buffer size"); |
799 | throw new Exception("cant get buffer size"); |
| 799 | 800 | ||
| 800 | writer.write('V'); |
801 | writer.write('V'); |
| 801 | writer.flush(); |
802 | writer.flush(); |
| 802 | 803 | ||
| 803 | int bl_version_major=reader.read(); |
804 | int bl_version_major=reader.read(); |
| 804 | int bl_version_minor=reader.read(); |
805 | int bl_version_minor=reader.read(); |
| 805 | 806 | ||
| 806 | flash_msgs[msg_pos++]="BL Version " + bl_version_major+"."+bl_version_minor; |
807 | flash_msgs[msg_pos++]="BL Version " + bl_version_major+"."+bl_version_minor; |
| 807 | 808 | ||
| 808 | 809 | ||
| 809 | writer.write('b'); |
810 | writer.write('b'); |
| 810 | writer.flush(); |
811 | writer.flush(); |
| 811 | 812 | ||
| 812 | if (reader.read()!='Y') |
813 | if (reader.read()!='Y') |
| 813 | throw new Exception("cant get buffer size"); |
814 | throw new Exception("cant get buffer size"); |
| 814 | 815 | ||
| 815 | int send_buff_size1=reader.read(); |
816 | int send_buff_size1=reader.read(); |
| 816 | int send_buff_size2=reader.read(); |
817 | int send_buff_size2=reader.read(); |
| 817 | int send_buff_size=send_buff_size1*0x100+send_buff_size2; |
818 | int send_buff_size=send_buff_size1*0x100+send_buff_size2; |
| 818 | 819 | ||
| 819 | flash_msgs[msg_pos++]="BUFF Size:" + send_buff_size; |
820 | flash_msgs[msg_pos++]="BUFF Size:" + send_buff_size; |
| 820 | // if (send_buff_size>128) |
821 | // if (send_buff_size>128) |
| 821 | // send_buff_size=128; |
822 | // send_buff_size=128; |
| 822 | 823 | ||
| 823 | // if (!bootloader_intension |
824 | // if (!bootloader_intension |
| 824 | if (bootloader_intension_flash) |
825 | if (bootloader_intension_flash) |
| 825 | { |
826 | { |
| 826 | 827 | ||
| 827 | byte[] flash_buff =new byte[send_buff_size]; ///!! |
828 | byte[] flash_buff =new byte[send_buff_size]; ///!! |
| 828 | 829 | ||
| 829 | String firmware_filename=(avr_sig==224)?"/navi.bin":((avr_sig==120)?"/mk3.bin":"/fc.bin"); |
830 | String firmware_filename=(avr_sig==224)?"/navi.bin":((avr_sig==120)?"/mk3.bin":"/fc.bin"); |
| 830 | flash_msgs[msg_pos++]="Opening firmware " + firmware_filename + ".."; |
831 | flash_msgs[msg_pos++]="Opening firmware " + firmware_filename + ".."; |
| 831 | 832 | ||
| 832 | 833 | ||
| 833 | InputStream in; |
834 | InputStream in; |
| 834 | try { |
835 | try { |
| 835 | in=this.getClass().getResourceAsStream(firmware_filename); |
836 | in=this.getClass().getResourceAsStream(firmware_filename); |
| 836 | } |
837 | } |
| 837 | 838 | ||
| 838 | catch (Exception e) { throw new Exception(" .. cant open firmware"); } |
839 | catch (Exception e) { throw new Exception(" .. cant open firmware"); } |
| 839 | int firmware_size=-1; |
840 | int firmware_size=-1; |
| 840 | try { |
841 | try { |
| 841 | 842 | ||
| 842 | firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ; |
843 | firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ; |
| 843 | } |
844 | } |
| 844 | catch (Exception e) { throw new Exception(" .. cant read size"); } |
845 | catch (Exception e) { throw new Exception(" .. cant read size"); } |
| 845 | 846 | ||
| 846 | 847 | ||
| 847 | 848 | ||
| 848 | int blocks2write=((firmware_size/send_buff_size)); |
849 | int blocks2write=((firmware_size/send_buff_size)); |
| 849 | flash_msgs[msg_pos++]=".. open("+blocks2write+" blocks," + firmware_size + "bytes)"; |
850 | flash_msgs[msg_pos++]=".. open("+blocks2write+" blocks," + firmware_size + "bytes)"; |
| 850 | 851 | ||
| 851 | 852 | ||
| 852 | 853 | ||
| 853 | // if (true) throw new Exception("before erasing"); |
854 | // if (true) throw new Exception("before erasing"); |
| 854 | 855 | ||
| 855 | // if (true) throw new Exception("before erasing" ); |
856 | // if (true) throw new Exception("before erasing" ); |
| 856 | 857 | ||
| 857 | flash_msgs[msg_pos++]="Erasing Flash .."; |
858 | flash_msgs[msg_pos++]="Erasing Flash .."; |
| 858 | writer.write('e'); |
859 | writer.write('e'); |
| 859 | writer.flush(); |
860 | writer.flush(); |
| 860 | 861 | ||
| 861 | if (reader.read()!=0x0d) |
862 | if (reader.read()!=0x0d) |
| 862 | throw new Exception("cant erase flash"); |
863 | throw new Exception("cant erase flash"); |
| 863 | 864 | ||
| 864 | flash_msgs[msg_pos]+="OK"; |
865 | flash_msgs[msg_pos]+="OK"; |
| 865 | 866 | ||
| 866 | 867 | ||
| 867 | writer.write('A'); |
868 | writer.write('A'); |
| 868 | writer.write(0); |
869 | writer.write(0); |
| 869 | writer.write(0); |
870 | writer.write(0); |
| 870 | writer.flush(); |
871 | writer.flush(); |
| 871 | 872 | ||
| 872 | if (reader.read()!=0x0d) |
873 | if (reader.read()!=0x0d) |
| 873 | throw new Exception("cant set addr"); |
874 | throw new Exception("cant set addr"); |
| 874 | 875 | ||
| 875 | flash_msgs[msg_pos++]="addr set"; |
876 | flash_msgs[msg_pos++]="addr set"; |
| 876 | 877 | ||
| 877 | 878 | ||
| 878 | // int blocks2write=((firmware_size/send_buff_size)); |
879 | // int blocks2write=((firmware_size/send_buff_size)); |
| 879 | if ((firmware_size%send_buff_size)>0) |
880 | if ((firmware_size%send_buff_size)>0) |
| 880 | blocks2write++; |
881 | blocks2write++; |
| 881 | 882 | ||
| 882 | for ( int block=0; block<blocks2write; block ++) |
883 | for ( int block=0; block<blocks2write; block ++) |
| 883 | { |
884 | { |
| 884 | int hex_bytes_read=in.read(flash_buff,0,send_buff_size); |
885 | int hex_bytes_read=in.read(flash_buff,0,send_buff_size); |
| 885 | 886 | ||
| 886 | flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
887 | flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
| 887 | 888 | ||
| 888 | 889 | ||
| 889 | writer.write('B'); |
890 | writer.write('B'); |
| 890 | writer.write((hex_bytes_read>>8)& 0xFF); |
891 | writer.write((hex_bytes_read>>8)& 0xFF); |
| 891 | writer.write((hex_bytes_read)& 0xFF); |
892 | writer.write((hex_bytes_read)& 0xFF); |
| 892 | writer.write('F'); |
893 | writer.write('F'); |
| 893 | writer.flush(); |
894 | writer.flush(); |
| 894 | 895 | ||
| 895 | 896 | ||
| 896 | writer.write(flash_buff,0,hex_bytes_read); |
897 | writer.write(flash_buff,0,hex_bytes_read); |
| 897 | writer.flush(); |
898 | writer.flush(); |
| 898 | 899 | ||
| 899 | 900 | ||
| 900 | if (avr_sig==224) |
901 | if (avr_sig==224) |
| 901 | { |
902 | { |
| 902 | int crc=0xFFFF; |
903 | int crc=0xFFFF; |
| 903 | for (int crc_pos=0;crc_pos<hex_bytes_read;crc_pos++) |
904 | for (int crc_pos=0;crc_pos<hex_bytes_read;crc_pos++) |
| 904 | crc=CRC16(flash_buff[crc_pos],crc); |
905 | crc=CRC16(flash_buff[crc_pos],crc); |
| 905 | writer.write(crc>>8); |
906 | writer.write(crc>>8); |
| 906 | writer.write(crc&0xff); |
907 | writer.write(crc&0xff); |
| 907 | writer.flush(); |
908 | writer.flush(); |
| 908 | } |
909 | } |
| 909 | // flash_msgs[msg_pos]+="ok"; |
910 | // flash_msgs[msg_pos]+="ok"; |
| 910 | // writer.flush(); |
911 | // writer.flush(); |
| 911 | 912 | ||
| 912 | 913 | ||
| 913 | 914 | ||
| 914 | if (reader.read()!=0x0d) |
915 | if (reader.read()!=0x0d) |
| 915 | throw new Exception("abort write at block"+block); |
916 | throw new Exception("abort write at block"+block); |
| 916 | 917 | ||
| 917 | 918 | ||
| 918 | 919 | ||
| 919 | // sleep(1000); |
920 | // sleep(1000); |
| 920 | } |
921 | } |
| 921 | // flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
922 | // flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
| 922 | /* |
923 | /* |
| 923 | |
924 | |
| 924 | int inp=0; |
925 | int inp=0; |
| 925 | int block=0; |
926 | int block=0; |
| 926 | while (inp!=-1) |
927 | while (inp!=-1) |
| 927 | { |
928 | { |
| 928 | int flash_buff_pos=0; |
929 | int flash_buff_pos=0; |
| 929 | int crc=0xFFFF; |
930 | int crc=0xFFFF; |
| 930 | |
931 | |
| 931 | while ((flash_buff_pos<send_buff_size)&&(inp!=-1)) |
932 | while ((flash_buff_pos<send_buff_size)&&(inp!=-1)) |
| 932 | { |
933 | { |
| 933 | inp=in.read(); |
934 | inp=in.read(); |
| 934 | if (inp!=-1) |
935 | if (inp!=-1) |
| 935 | { |
936 | { |
| 936 | crc=CRC16(inp,crc); |
937 | crc=CRC16(inp,crc); |
| 937 | flash_buff[flash_buff_pos++]=(byte)inp; |
938 | flash_buff[flash_buff_pos++]=(byte)inp; |
| 938 | } |
939 | } |
| 939 | } |
940 | } |
| 940 | // flash_msgs[msg_pos]="block" + block + "size:"+flash_buff_pos; |
941 | // flash_msgs[msg_pos]="block" + block + "size:"+flash_buff_pos; |
| 941 | |
942 | |
| 942 | block++; |
943 | block++; |
| 943 | |
944 | |
| 944 | boolean block_fin=false; |
945 | boolean block_fin=false; |
| 945 | 946 | ||
| 946 | 947 | ||
| 947 | while(!block_fin) |
948 | while(!block_fin) |
| 948 | { |
949 | { |
| 949 | |
950 | |
| 950 | writer.write('B'); |
951 | writer.write('B'); |
| 951 | writer.write((flash_buff_pos>>8)& 0xFF); |
952 | writer.write((flash_buff_pos>>8)& 0xFF); |
| 952 | writer.write((flash_buff_pos)& 0xFF); |
953 | writer.write((flash_buff_pos)& 0xFF); |
| 953 | writer.write('F'); |
954 | writer.write('F'); |
| 954 | writer.flush(); |
955 | writer.flush(); |
| 955 | 956 | ||
| 956 | // int ret_v=-1; |
957 | // int ret_v=-1; |
| 957 | |
958 | |
| 958 | writer.write(flash_buff,0,flash_buff_pos); |
959 | writer.write(flash_buff,0,flash_buff_pos); |
| 959 | flash_msgs[msg_pos]="bl:" + block + "si:"+flash_buff_pos ; |
960 | flash_msgs[msg_pos]="bl:" + block + "si:"+flash_buff_pos ; |
| 960 | |
961 | |
| 961 | writer.flush(); |
962 | writer.flush(); |
| 962 | // flash_msgs[msg_pos]+="wtc"; |
963 | // flash_msgs[msg_pos]+="wtc"; |
| 963 | |
964 | |
| 964 | |
965 | |
| 965 | // append crc if navi |
966 | // append crc if navi |
| 966 | if (avr_sig==224) |
967 | if (avr_sig==224) |
| 967 | { |
968 | { |
| 968 | writer.write(crc>>8); |
969 | writer.write(crc>>8); |
| 969 | writer.write(crc&0xff); |
970 | writer.write(crc&0xff); |
| 970 | writer.flush(); |
971 | writer.flush(); |
| 971 | } |
972 | } |
| 972 | // flash_msgs[msg_pos]+="ok"; |
973 | // flash_msgs[msg_pos]+="ok"; |
| 973 | // writer.flush(); |
974 | // writer.flush(); |
| 974 | // if (reader.read()!=0x0d) |
975 | // if (reader.read()!=0x0d) |
| 975 | // throw new Exception("abort write at block"+block); |
976 | // throw new Exception("abort write at block"+block); |
| 976 | |
977 | |
| 977 | |
978 | |
| 978 | //ret_v=reader.read(); |
979 | //ret_v=reader.read(); |
| 979 | // flash_msgs[msg_pos]="ret"+ret_v + "crc"+crc; |
980 | // flash_msgs[msg_pos]="ret"+ret_v + "crc"+crc; |
| 980 | |
981 | |
| 981 | if (reader.read()==0x0d) |
982 | if (reader.read()==0x0d) |
| 982 | block_fin=true; |
983 | block_fin=true; |
| 983 | |
984 | |
| 984 | } |
985 | } |
| 985 | 986 | ||
| 986 | } |
987 | } |
| 987 | */ |
988 | */ |
| 988 | flash_msgs[++msg_pos]="written last block "; |
989 | flash_msgs[++msg_pos]="written last block "; |
| 989 | msg_pos++; |
990 | msg_pos++; |
| 990 | flash_buff=null; |
991 | flash_buff=null; |
| 991 | 992 | ||
| 992 | ufo_prober.set_to_none(); |
993 | ufo_prober.set_to_none(); |
| 993 | stats.reset(); |
994 | stats.reset(); |
| 994 | version=new MKVersion(); |
995 | version=new MKVersion(); |
| 995 | System.gc(); |
996 | System.gc(); |
| 996 | } |
997 | } |
| 997 | else // bootloader intension clear settings |
998 | else // bootloader intension clear settings |
| 998 | { |
999 | { |
| 999 | 1000 | ||
| 1000 | flash_msgs[msg_pos]="reset params .."; |
1001 | flash_msgs[msg_pos]="reset params .."; |
| 1001 | writer.write('B'); |
1002 | writer.write('B'); |
| 1002 | writer.write(0); |
1003 | writer.write(0); |
| 1003 | writer.write(4); |
1004 | writer.write(4); |
| 1004 | writer.write('E'); |
1005 | writer.write('E'); |
| 1005 | writer.flush(); |
1006 | writer.flush(); |
| 1006 | 1007 | ||
| 1007 | writer.write(0xFF); |
1008 | writer.write(0xFF); |
| 1008 | writer.write(0xFF); |
1009 | writer.write(0xFF); |
| 1009 | writer.write(0xFF); |
1010 | writer.write(0xFF); |
| 1010 | writer.write(0xFF); |
1011 | writer.write(0xFF); |
| 1011 | writer.flush(); |
1012 | writer.flush(); |
| 1012 | flash_msgs[msg_pos++]+=" done"; |
1013 | flash_msgs[msg_pos++]+=" done"; |
| 1013 | } |
1014 | } |
| 1014 | 1015 | ||
| 1015 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
1016 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
| 1016 | params=new MKParamsParser(); |
1017 | params=new MKParamsParser(); |
| 1017 | try{ |
1018 | try{ |
| 1018 | writer.write('E'); |
1019 | writer.write('E'); |
| 1019 | writer.flush(); |
1020 | writer.flush(); |
| 1020 | } |
1021 | } |
| 1021 | catch (Exception e) { |
1022 | catch (Exception e) { |
| 1022 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
1023 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
| 1023 | } |
1024 | } |
| 1024 | flash_msgs[msg_pos++]="Exit BL done" ; |
1025 | flash_msgs[msg_pos++]="Exit BL done" ; |
| 1025 | 1026 | ||
| 1026 | bootloader_finish_ok=true; |
1027 | bootloader_finish_ok=true; |
| 1027 | } |
1028 | } |
| 1028 | 1029 | ||
| 1029 | catch (Exception e) { |
1030 | catch (Exception e) { |
| 1030 | flash_msgs[msg_pos++]="Fail:" +e.getMessage() ; |
1031 | flash_msgs[msg_pos++]="Fail:" +e.getMessage() ; |
| 1031 | 1032 | ||
| 1032 | 1033 | ||
| 1033 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
1034 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
| 1034 | params=new MKParamsParser(); |
1035 | params=new MKParamsParser(); |
| 1035 | try{ |
1036 | try{ |
| 1036 | writer.write('E'); |
1037 | writer.write('E'); |
| 1037 | writer.flush(); |
1038 | writer.flush(); |
| 1038 | } |
1039 | } |
| 1039 | catch (Exception e2) { |
1040 | catch (Exception e2) { |
| 1040 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
1041 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
| 1041 | } |
1042 | } |
| 1042 | flash_msgs[msg_pos++]="Exit BL done" ; |
1043 | flash_msgs[msg_pos++]="Exit BL done" ; |
| 1043 | if (sigfail&&(bl_retrys<3)) |
1044 | if (sigfail&&(bl_retrys<3)) |
| 1044 | { |
1045 | { |
| 1045 | bl_retrys++; |
1046 | bl_retrys++; |
| 1046 | init_bootloader=true; |
1047 | init_bootloader=true; |
| 1047 | } |
1048 | } |
| 1048 | close_connections(false); |
1049 | close_connections(false); |
| 1049 | } |
1050 | } |
| 1050 | 1051 | ||
| 1051 | 1052 | ||
| 1052 | sending=false; |
1053 | sending=false; |
| 1053 | } |
1054 | } |
| 1054 | 1055 | ||
| 1055 | 1056 | ||
| 1056 | byte[] data_set=new byte[1024]; |
1057 | byte[] data_set=new byte[1024]; |
| 1057 | int data_set_pos=0; |
1058 | int data_set_pos=0; |
| 1058 | byte[] data_in_buff=new byte[2048]; |
1059 | byte[] data_in_buff=new byte[2048]; |
| 1059 | 1060 | ||
| 1060 | int input; |
1061 | int input; |
| 1061 | int pos=0; |
1062 | int pos=0; |
| 1062 | 1063 | ||
| 1063 | 1064 | ||
| 1064 | 1065 | ||
| 1065 | 1066 | ||
| 1066 | 1067 | ||
| 1067 | log("Thread started"); |
1068 | log("Thread started"); |
| 1068 | while(true) |
1069 | while(true) |
| 1069 | { |
1070 | { |
| 1070 | 1071 | ||
| 1071 | if (!connected) |
1072 | if (!connected) |
| 1072 | { |
1073 | { |
| 1073 | if (!force_disconnect) connect(); |
1074 | if (!force_disconnect) connect(); |
| 1074 | sleep(100); |
1075 | sleep(100); |
| 1075 | } |
1076 | } |
| 1076 | else |
1077 | else |
| 1077 | try{ |
1078 | try{ |
| 1078 | 1079 | ||
| 1079 | /* |
1080 | /* |
| 1080 | while(sending) |
1081 | while(sending) |
| 1081 | {try { Thread.sleep(50); } |
1082 | {try { Thread.sleep(50); } |
| 1082 | catch (Exception e) { } |
1083 | catch (Exception e) { } |
| 1083 | } |
1084 | } |
| 1084 | */ |
1085 | */ |
| 1085 | 1086 | ||
| 1086 | recieving=true; |
1087 | recieving=true; |
| 1087 | int read_count =reader.read(data_in_buff,0,reader.available()); |
1088 | int read_count =reader.read(data_in_buff,0,reader.available()); |
| 1088 | log("Connected - reading data " + read_count); |
1089 | log("Connected - reading data " + read_count); |
| 1089 | // pos=0; |
1090 | // pos=0; |
| 1090 | input=0; |
1091 | input=0; |
| 1091 | //data_buff[data_buff_pos]=""; |
1092 | //data_buff[data_buff_pos]=""; |
| 1092 | // recieve data-set |
1093 | // recieve data-set |
| 1093 | if (read_count==0) sleep(50); |
1094 | if (read_count==0) sleep(50); |
| 1094 | 1095 | ||
| 1095 | // int read_count =reader.read(data_in_buff,0,reader.available()); |
1096 | // int read_count =reader.read(data_in_buff,0,reader.available()); |
| 1096 | stats.bytes_in+=read_count; |
1097 | stats.bytes_in+=read_count; |
| 1097 | if (read_count>0) |
1098 | if (read_count>0) |
| 1098 | { |
1099 | { |
| 1099 | log("read" + read_count + " ds_pos" + data_set_pos); |
1100 | log("read" + read_count + " ds_pos" + data_set_pos); |
| 1100 | 1101 | ||
| 1101 | for ( pos=0;pos<read_count;pos++) |
1102 | for ( pos=0;pos<read_count;pos++) |
| 1102 | { |
1103 | { |
| 1103 | if (data_in_buff[pos]==13) |
1104 | if (data_in_buff[pos]==13) |
| 1104 | { |
1105 | { |
| 1105 | data_buff[data_buff_pos]=""+data_buff_pos+ "--"+new String(data_set, 0, data_set_pos); |
1106 | data_buff[data_buff_pos]=""+data_buff_pos+ "--"+new String(data_set, 0, data_set_pos); |
| 1106 | data_buff_pos++; |
1107 | data_buff_pos++; |
| 1107 | data_buff_pos%=DATA_BUFF_LEN; |
1108 | data_buff_pos%=DATA_BUFF_LEN; |
| 1108 | 1109 | ||
| 1109 | 1110 | ||
| 1110 | try{process_data(data_set,data_set_pos); } |
1111 | try{process_data(data_set,data_set_pos); } |
| 1111 | catch (Exception e) |
1112 | catch (Exception e) |
| 1112 | { |
1113 | { |
| 1113 | log(".. problem processing"); |
1114 | log(".. problem processing"); |
| 1114 | log(e.toString()); |
1115 | log(e.toString()); |
| 1115 | } |
1116 | } |
| 1116 | 1117 | ||
| 1117 | 1118 | ||
| 1118 | 1119 | ||
| 1119 | 1120 | ||
| 1120 | proxy.write(data_set,0,data_set_pos); |
1121 | proxy.write(data_set,0,data_set_pos); |
| 1121 | // proxy.writer.write('\r'); |
1122 | // proxy.writer.write('\r'); |
| 1122 | //proxy.writer.write('\n'); |
1123 | //proxy.writer.write('\n'); |
| 1123 | //proxy.writer.flush(); |
1124 | //proxy.writer.flush(); |
| 1124 | /* |
1125 | /* |
| 1125 | if (proxy!=null) |
1126 | if (proxy!=null) |
| 1126 | { |
1127 | { |
| 1127 | |
1128 | |
| 1128 | 1129 | ||
| 1129 | 1130 | ||
| 1130 | } |
1131 | } |
| 1131 | */ |
1132 | */ |
| 1132 | data_set_pos=0; |
1133 | data_set_pos=0; |
| 1133 | 1134 | ||
| 1134 | } |
1135 | } |
| 1135 | else |
1136 | else |
| 1136 | { |
1137 | { |
| 1137 | data_set[data_set_pos++]=data_in_buff[pos]; |
1138 | data_set[data_set_pos++]=data_in_buff[pos]; |
| 1138 | 1139 | ||
| 1139 | 1140 | ||
| 1140 | 1141 | ||
| 1141 | if ( (data_set_pos>4) && (data_set[data_set_pos-4]==(byte)'M') && (data_set[data_set_pos-3]==(byte)'K') && (data_set[data_set_pos-2]==(byte)'B') && (data_set[data_set_pos-1]==(byte)'L')) |
1142 | if ( (data_set_pos>4) && (data_set[data_set_pos-4]==(byte)'M') && (data_set[data_set_pos-3]==(byte)'K') && (data_set[data_set_pos-2]==(byte)'B') && (data_set[data_set_pos-1]==(byte)'L')) |
| 1142 | { |
1143 | { |
| 1143 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
1144 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
| 1144 | return; |
1145 | return; |
| 1145 | } |
1146 | } |
| 1146 | 1147 | ||
| 1147 | } |
1148 | } |
| 1148 | 1149 | ||
| 1149 | } |
1150 | } |
| 1150 | 1151 | ||
| 1151 | 1152 | ||
| 1152 | } |
1153 | } |
| 1153 | else |
1154 | else |
| 1154 | sleep(50); |
1155 | sleep(50); |
| 1155 | /* |
1156 | /* |
| 1156 | while ((input != 13)) //&&(input!=-1)) |
1157 | while ((input != 13)) //&&(input!=-1)) |
| 1157 | { |
1158 | { |
| 1158 | { |
1159 | { |
| 1159 | //log("pre read"); |
1160 | //log("pre read"); |
| 1160 | log(""+reader.available()); |
1161 | log(""+reader.available()); |
| 1161 | input = reader.read() ; |
1162 | input = reader.read() ; |
| 1162 | log("Byte rcv" + input +"pos"+ pos); |
1163 | log("Byte rcv" + input +"pos"+ pos); |
| 1163 | |
1164 | |
| 1164 | proxy.write(input); |
1165 | proxy.write(input); |
| 1165 | |
1166 | |
| 1166 | data_buff[data_buff_pos]+=(char)input; |
1167 | data_buff[data_buff_pos]+=(char)input; |
| 1167 | |
1168 | |
| 1168 | if ((data_buff[data_buff_pos].length()>3)&&(data_buff[data_buff_pos].substring(data_buff[data_buff_pos].length()-4,data_buff[data_buff_pos].length()).equals("MKBL"))) |
1169 | if ((data_buff[data_buff_pos].length()>3)&&(data_buff[data_buff_pos].substring(data_buff[data_buff_pos].length()-4,data_buff[data_buff_pos].length()).equals("MKBL"))) |
| 1169 | { |
1170 | { |
| 1170 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
1171 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
| 1171 | return; |
1172 | return; |
| 1172 | } |
1173 | } |
| 1173 | if (input==-1) throw new Exception("disconnect"); |
1174 | if (input==-1) throw new Exception("disconnect"); |
| 1174 | else |
1175 | else |
| 1175 | { |
1176 | { |
| 1176 | stats.bytes_in++; |
1177 | stats.bytes_in++; |
| 1177 | data_set[pos]=input; |
1178 | data_set[pos]=input; |
| 1178 | pos++; |
1179 | pos++; |
| 1179 | } |
1180 | } |
| 1180 | } |
1181 | } |
| 1181 | |
1182 | |
| 1182 | } |
1183 | } |
| 1183 | |
1184 | |
| 1184 | |
1185 | |
| 1185 | 1186 | ||
| 1186 | data_buff_pos++; |
1187 | data_buff_pos++; |
| 1187 | data_buff_pos%=DATA_BUFF_LEN; |
1188 | data_buff_pos%=DATA_BUFF_LEN; |
| 1188 | recieving=false; |
1189 | recieving=false; |
| 1189 | log("Data recieved (" + pos + "Bytes)"); |
1190 | log("Data recieved (" + pos + "Bytes)"); |
| 1190 | log("processing .."); |
1191 | log("processing .."); |
| 1191 | */ |
1192 | */ |
| 1192 | 1193 | ||
| 1193 | /* |
1194 | /* |
| 1194 | if (proxy!=null) |
1195 | if (proxy!=null) |
| 1195 | { |
1196 | { |
| 1196 | proxy.writer.write('\r'); |
1197 | proxy.writer.write('\r'); |
| 1197 | proxy.writer.write('\n'); |
1198 | proxy.writer.write('\n'); |
| 1198 | proxy.writer.flush(); |
1199 | proxy.writer.flush(); |
| 1199 | } |
1200 | } |
| 1200 | */ |
1201 | */ |
| 1201 | /*if (pos>5) |
1202 | /*if (pos>5) |
| 1202 | { |
1203 | { |
| 1203 | try{process_data(data_set,pos); } |
1204 | try{process_data(data_set,pos); } |
| 1204 | catch (Exception e) |
1205 | catch (Exception e) |
| 1205 | { |
1206 | { |
| 1206 | log(".. problem processing"); |
1207 | log(".. problem processing"); |
| 1207 | log(e.toString()); |
1208 | log(e.toString()); |
| 1208 | } |
1209 | } |
| 1209 | |
1210 | |
| 1210 | log(".. processing done"); |
1211 | log(".. processing done"); |
| 1211 | } |
1212 | } |
| 1212 | */ |
1213 | */ |
| 1213 | } |
1214 | } |
| 1214 | catch (Exception ex) |
1215 | catch (Exception ex) |
| 1215 | { |
1216 | { |
| 1216 | log("Problem reading from MK -> closing conn"); |
1217 | log("Problem reading from MK -> closing conn"); |
| 1217 | log(ex.toString()); |
1218 | log(ex.toString()); |
| 1218 | // close the connection |
1219 | // close the connection |
| 1219 | close_connections(false); |
1220 | close_connections(false); |
| 1220 | } |
1221 | } |
| 1221 | 1222 | ||
| 1222 | // sleep a bit to get someting more done |
1223 | // sleep a bit to get someting more done |
| 1223 | // sleep(5); //50 |
1224 | // sleep(5); //50 |
| 1224 | 1225 | ||
| 1225 | } // while |
1226 | } // while |
| 1226 | // log("Leaving Communicator thread"); |
1227 | // log("Leaving Communicator thread"); |
| 1227 | } // run() |
1228 | } // run() |
| 1228 | } |
1229 | } |
| 1229 | 1230 | ||